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Nothing happened on the GUI #40

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GarronLiu opened this issue Mar 24, 2023 · 3 comments
Closed

Nothing happened on the GUI #40

GarronLiu opened this issue Mar 24, 2023 · 3 comments

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@GarronLiu
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GarronLiu commented Mar 24, 2023 •
edited
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These are my running command with configurations and information printed on the terminal. And I can't find anything happened on the GUI.Could you please help me?
./bin/dmvio_dataset files=/home/garronliu/data/E/bagfiles/dataset1/dso/cam0/images vignette=/home/garronliu/data/E/bagfiles/dataset1/dso/cam0/vignette.png imuFile=/home/garronliu/data/E/bagfiles/dataset1/dso/imu.txt gtFile=/home/garronliu/data/E/bagfiles/dataset1/dso/gt_imu.csv calib=/home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camera02.txt gamma=/home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/pcalib.txt imuCalib=/home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camchain.yaml mode=0 use16Bit=1 preset=1 nogui=0 resultsPrefix=/home/garronliu/dmvio_results settingsFile=/home/garronliu/SLAM/dm-vio-master/configs/tumvi.yaml
PHOTOMETRIC MODE WITH CALIBRATION!

=============== PRESET Settings: ===============
DEFAULT settings:

  • 1x real-time enforcing
  • 2000 active points
  • 5-7 active frames
  • 1-6 LM iteration each KF
  • original image resolution
    ==============================================
    Loading settings from yaml file: /home/garronliu/SLAM/dm-vio-master/configs/tumvi.yaml!
    Loading IMU parameter file at: /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camchain.yaml
    Used T_cam_imu:
    -0.999525 0.0296153 -0.00852233 0.0472799
    0.00750192 -0.0343974 -0.99938 -0.0474432
    -0.0298901 -0.998969 0.0341589 -0.0682
    0 0 0 1
    Used noise values: 0.043 0.0011 0.224 0.0128
    Settings:
    accelerometer_noise_density: 0.224
    accelerometer_random_walk: 0.043
    addVisualToCoarseGraphIfTrackingBad: 0
    alwaysCanBreakIMU: 0
    baToCoarseAccBiasVariance: 1000
    baToCoarseGyrBiasVariance: 0.05
    baToCoarsePoseVariance: 0.1
    baToCoarseRotVariance: 1
    baToCoarseVelVariance: 0.1
    calib: /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camera02.txt
    dynamicWeightRMSEThresh: 8
    end: 100000
    files: /home/garronliu/data/E/bagfiles/dataset1/dso/cam0/images
    fixKeyframeDuringCoarseTracking: 1
    gamma: /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/pcalib.txt
    generalScaleIntervalSize: 60
    gravityDirectionFixZ: 1
    gtFile: /home/garronliu/data/E/bagfiles/dataset1/dso/gt_imu.csv
    gyroscope_noise_density: 0.0128
    gyroscope_random_walk: 0.0011
    imuCalib: /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camchain.yaml
    imuFile: /home/garronliu/data/E/bagfiles/dataset1/dso/imu.txt
    init_coarseScaleUncertaintyThresh: 1
    init_conversionType: 0
    init_disableVIOUntilFirstInit: 1
    init_fixPoses: 1
    init_initDSOParams: 1
    init_lambdaLowerBound: 1e-16
    init_maxNumPoses: 100
    init_multipleBiases: 0
    init_multithreadedInitDespiteNonRT: 0
    init_onlyKFs: 1
    init_pgba_conversionType: 0
    init_pgba_delay: 100
    init_pgba_prepareGraphAddDelValues: 0
    init_pgba_prepareGraphAddFactors: 0
    init_pgba_priorExtrinsicsRot: 0.01
    init_pgba_priorExtrinsicsTrans: 0.1
    init_pgba_priorGravityDirection: 0.4
    init_pgba_priorGravityDirectionZ: 0.0001
    init_pgba_reinitScaleUncertaintyThresh: 0.5
    init_pgba_scaleUncertaintyThresh: 1
    init_pgba_skipFirstKFs: 0
    init_priorExtrinsicsRot: 0.01
    init_priorExtrinsicsTrans: 0.1
    init_priorGravityDirection: 0.4
    init_priorGravityDirectionZ: 0.0001
    init_priorRotSigma: 1e-05
    init_priorTransSigma: 1e-05
    init_requestFullResetErrorThreshold: -1
    init_requestFullResetNormalizedErrorThreshold: -1
    init_scalePriorAfterInit: 0
    init_secondthreshGravdir: 1000
    init_secondthreshScale: 1e+07
    init_threshGravdir: 1000
    init_threshScale: 1.02
    init_transitionModel: 2
    init_updatePoses: 1
    integration_sigma: 0.316227
    maxFrameEnergyThreshold: 5000
    maxPreloadImages: 0
    maxTimeBetweenInitFrames: 100000
    numMeasurementsGravityInit: 40
    preload: 1
    priorExtrinsicsRot: 0.01
    priorExtrinsicsTrans: 0.1
    priorGravityDirection: 0.4
    priorGravityDirectionZ: 0.0001
    resultsPrefix: /home/garronliu/dmvio_results
    reverse: 0
    sampleoutput: 0
    setting_forceNoKFTranslationThresh: 0
    setting_maxOptIterations: 6
    setting_minFramesBetweenKeyframes: -0.5
    setting_minIdepth: 0.02
    setting_minOptIterations: 1
    setting_optGravity: 1
    setting_optIMUExtrinsics: 0
    setting_optScaleBA: 1
    setting_prior_bias: 0
    setting_prior_velocity: 0
    setting_scaleFixTH: 0
    setting_solverMode: 2048
    setting_transferCovToCoarse: 1
    setting_visualOnlyAfterScaleFixing: 0
    setting_weightDSOCoarse: 0.001
    setting_weightDSOToGTSAM: 1.66667e-05
    setting_weightZeroPriorDSOInitX: 0
    setting_weightZeroPriorDSOInitY: 0
    skipFirstKeyframe: 0
    speed: 1
    start: 0
    transferCovToCoarseMultiplier: 1
    updateDynamicWeightDuringOptimization: 1
    use16Bit: 1
    useScaleDiagonalHack: 0
    vignette: /home/garronliu/data/E/bagfiles/dataset1/dso/cam0/vignette.png
    Reading Calibration from file /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/camera02.txt ... found!
    Creating Equidistant undistorter
    Input resolution: 512 512
    In: EquiDistant 190.978477 190.973307 254.931706 256.897443 0.003482 0.000715 -0.002053 0.000203
    Out: 0.200000 0.200000 0.499000 0.499000 0.000000
    Output resolution: 512 512

Rectified Kamera Matrix:
102.4 0 254.988
0 102.4 254.988
0 0 1

Reading Photometric Calibration from file /home/garronliu/SLAM/dm-vio-master/configs/tumvi_calib/pcalib.txt
Reading Vignette Image from /home/garronliu/data/E/bagfiles/dataset1/dso/cam0/vignette.png
Successfully read photometric calibration!
got 16213 images and 16213 timestamps and 16213 exposures.!
ImageFolderReader: got 16213 files in /home/garronliu/data/E/bagfiles/dataset1/dso/cam0/images!
Skipping comment line in IMU data.
IMU Id: 1520603863154984026
using pyramid levels 0 to 3. coarsest resolution: 64 x 64!
START PANGOLIN!
Switching to initializer state: RealtimeCoarseIMUInitState
PixelSelector: Using block sizes: 16, 16
LOADING ALL IMAGES!
OpenGL Error 502: GL_INVALID_OPERATION: The specified operation is not allowed in the current state.
In: /usr/local/include/pangolin/gl/gl.hpp, line 214
^CCaught signal 2
segment fault(core dumped)

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@GarronLiu
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GarronLiu commented Mar 24, 2023 •
edited
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In case that the problem are related to the compilation， the compilation process is shown below：

make -j4
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/CoarseInitializer.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/CoarseInitializer.cpp:34:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ResidualProjections.h:28:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ImmaturePoint.cpp:30:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:179:14: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 firstPose; // contains transform from first to world.
^~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ImmaturePoint.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ImmaturePoint.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ResidualProjections.h:28:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ImmaturePoint.cpp:30:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:197:97: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
std::pair<Vec4, bool> trackNewCoarse(FrameHessian* fh, Sophus::SE3 referenceToFrameHint = 0);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ImmaturePoint.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ImmaturePoint.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ResidualProjections.h:28:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ImmaturePoint.cpp:30:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:275:22: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
std::vectorSophus::SE3 gtPoses;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ImmaturePoint.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/ImmaturePoint.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:30:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:30:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:30:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:88:69: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
int lastFrameId, bool onlyForHint = false);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:30:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:98:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void updateCoarsePose(const Sophus::SE3& pose);
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:107:80: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
double& incA, double& incB, double& incNorm);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:30:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:150:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 TS_cam_imu;
^~~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:30:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:179:14: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 firstPose; // contains transform from first to world.
^~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:30:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:197:97: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
bool> trackNewCoarse(FrameHessian fh, Sophus::SE3 referenceToFrameHint = 0);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:30:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:275:22: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
std::vectorSophus::SE3 gtPoses;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctional.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
[ 19%] Building CXX object CMakeFiles/dmvio.dir/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp.o
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:27:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:25:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:27:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:25:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:27:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:88:69: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
int lastFrameId, bool onlyForHint = false);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:25:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:27:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:98:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void updateCoarsePose(const Sophus::SE3& pose);
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:107:80: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
double& incA, double& incB, double& incNorm);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:25:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:27:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:150:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 TS_cam_imu;
^~~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:25:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:27:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:179:14: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 firstPose; // contains transform from first to world.
^~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:25:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:27:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:197:97: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
std::pair<Vec4, bool> trackNewCoarse(FrameHessian fh, Sophus::SE3 referenceToFrameHint = 0);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:25:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:27:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:275:22: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
std::vectorSophus::SE3 gtPoses;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.cpp:25:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
[ 21%] Building CXX object CMakeFiles/dmvio.dir/src/IMU/IMUIntegration.cpp.o
[ 23%] Building CXX object CMakeFiles/dmvio.dir/src/GTSAMIntegration/Sim3GTSAM.cpp.o
[ 25%] Building CXX object CMakeFiles/dmvio.dir/src/IMUInitialization/GravityInitializer.cpp.o
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:0:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:88:69: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
int lastFrameId, bool onlyForHint = false);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:0:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:98:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void updateCoarsePose(const Sophus::SE3& pose);
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:107:80: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
double& incA, double& incB, double& incNorm);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:0:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:150:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 TS_cam_imu;
^~~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:152:73: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
int lastFrameId, bool onlyForHint)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:183:68: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void IMUIntegration::updateCoarsePose(const Sophus::SE3& refToFrame)
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:191:80: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
double& incA, double& incB, double& incNorm)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:88:69: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
int lastFrameId, bool onlyForHint = false);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:98:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void updateCoarsePose(const Sophus::SE3& pose);
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:107:80: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
double& incA, double& incB, double& incNorm);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:150:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 TS_cam_imu;
^~~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
[ 26%] Building CXX object CMakeFiles/dmvio.dir/src/IMU/IMUSettings.cpp.o
[ 28%] Building CXX object CMakeFiles/dmvio.dir/src/GTSAMIntegration/BAGTSAMIntegration.cpp.o
[ 30%] Building CXX object CMakeFiles/dmvio.dir/src/IMU/CoarseIMULogic.cpp.o
/home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/BAGTSAMIntegration.cpp:43:16: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using dso::VecX, dso::MatXX, dso::EFFrame;
^
/home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/BAGTSAMIntegration.cpp:43:28: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using dso::VecX, dso::MatXX, dso::EFFrame;
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:27:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:88:69: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
int lastFrameId, bool onlyForHint = false);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:27:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:98:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void updateCoarsePose(const Sophus::SE3& pose);
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:107:80: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
double& incA, double& incB, double& incNorm);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:27:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:150:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 TS_cam_imu;
^~~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUSettings.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
/home/garronliu/SLAM/dm-vio-master/src/IMU/CoarseIMULogic.cpp:374:75: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void dmvio::CoarseIMULogic::updateCoarsePose(const Sophus::SE3& refToFrame)
^
[ 32%] Building CXX object CMakeFiles/dmvio.dir/src/IMU/BAIMULogic.cpp.o
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:32:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:31:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:32:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:34:50: note: declared here
template<typename _Scalar, int _Options=0> class SE3Group;
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:32:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:31:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:32:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:35:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:88:69: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
int lastFrameId, bool onlyForHint = false);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:31:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:32:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:35:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:98:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void updateCoarsePose(const Sophus::SE3& pose);
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:107:80: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
double& incA, double& incB, double& incNorm);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:31:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:32:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/GravityInitializer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:35:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:150:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 TS_cam_imu;
^~~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:31:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:32:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
/home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:46:33: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using gtsam::symbol_shorthand::S, gtsam::symbol_shorthand::G;
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.cpp:236:104: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
const Sophus::SE3& keyframePose, std::vectordso::EFFrame*& frames)
^
[ 33%] Building CXX object CMakeFiles/dmvio.dir/src/GTSAMIntegration/PoseTransformation.cpp.o
/home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/PoseTransformation.cpp:31:20: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using gtsam::Matrix, gtsam::Vector;
^
[ 35%] Building CXX object CMakeFiles/dmvio.dir/src/GTSAMIntegration/Marginalization.cpp.o
[ 37%] Building CXX object CMakeFiles/dmvio.dir/src/GTSAMIntegration/PoseTransformationIMU.cpp.o
[ 39%] Building CXX object CMakeFiles/dmvio.dir/src/GTSAMIntegration/PoseTransformationFactor.cpp.o
/home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/PoseTransformationIMU.cpp:31:20: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using gtsam::Matrix, gtsam::Vector;
^
[ 41%] Building CXX object CMakeFiles/dmvio.dir/src/IMUInitialization/CoarseIMUInitOptimizer.cpp.o
[ 42%] Building CXX object CMakeFiles/dmvio.dir/src/IMUInitialization/IMUInitializer.cpp.o
/home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/CoarseIMUInitOptimizer.cpp:35:26: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using symbol_shorthand::P, symbol_shorthand::S, symbol_shorthand::V, symbol_shorthand::B;
^
/home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/CoarseIMUInitOptimizer.cpp:35:47: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using symbol_shorthand::P, symbol_shorthand::S, symbol_shorthand::V, symbol_shorthand::B;
^
/home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/CoarseIMUInitOptimizer.cpp:35:68: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using symbol_shorthand::P, symbol_shorthand::S, symbol_shorthand::V, symbol_shorthand::B;
^
[ 44%] Building CXX object CMakeFiles/dmvio.dir/src/IMU/IMUUtils.cpp.o
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializer.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/PoseTransformation.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/PoseTransformationIMU.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializer.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializer.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/PoseTransformation.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/PoseTransformationIMU.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializer.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializer.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
[ 46%] Building CXX object CMakeFiles/dmvio.dir/src/IMUInitialization/IMUInitSettings.cpp.o
[ 48%] Building CXX object CMakeFiles/dmvio.dir/src/GTSAMIntegration/DelayedMarginalization.cpp.o
[ 50%] Building CXX object CMakeFiles/dmvio.dir/src/IMUInitialization/PoseGraphBundleAdjustment.cpp.o
[ 51%] Building CXX object CMakeFiles/dmvio.dir/src/IMUInitialization/IMUInitializerStates.cpp.o
[ 53%] Building CXX object CMakeFiles/dmvio.dir/src/IMUInitialization/IMUInitializerLogic.cpp.o
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/BAGTSAMIntegration.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/DelayedMarginalization.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/OptimizationBackend/EnergyFunctionalStructs.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/BAGTSAMIntegration.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/GTSAMIntegration/DelayedMarginalization.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
/home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.cpp:38:26: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using symbol_shorthand::P, symbol_shorthand::S, symbol_shorthand::V, symbol_shorthand::B, symbol_shorthand::A;
^
/home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.cpp:38:47: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using symbol_shorthand::P, symbol_shorthand::S, symbol_shorthand::V, symbol_shorthand::B, symbol_shorthand::A;
^
/home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.cpp:38:68: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
using symbol_shorthand::P, symbol_shorthand::S, symbol_shorthand::V, symbol_shorthand::B, symbol_shorthand::A;
^
/home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.cpp:38:89: warning: comma-separated list in using-declaration only available with -std=c++1z or -std=gnu++1z
nd::P, symbol_shorthand::S, symbol_shorthand::V, symbol_shorthand::B, symbol_shorthand::A;
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.h:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.cpp:24:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/FrameShell.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.cpp:24:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.h:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.cpp:24:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/FrameShell.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.cpp:24:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.h:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/CoarseIMUInitOptimizer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.h:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/CoarseIMUInitOptimizer.h:27:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.cpp:26:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
[ 55%] Building CXX object CMakeFiles/dmvio.dir/src/IMUInitialization/IMUInitializerTransitions.cpp.o
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.h:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerTransitions.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerTransitions.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/FrameShell.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerTransitions.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerTransitions.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/BAIMULogic.h:26:0,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/PoseGraphBundleAdjustment.h:28,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerLogic.h:31,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerTransitions.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerTransitions.cpp:23:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/FrameShell.h:29,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerStates.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerTransitions.h:26,
from /home/garronliu/SLAM/dm-vio-master/src/IMUInitialization/IMUInitializerTransitions.cpp:23:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
[ 57%] Building CXX object CMakeFiles/dmvio.dir/src/GTSAMIntegration/AugmentedScatter.cpp.o
[ 58%] Building CXX object CMakeFiles/dmvio.dir/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp.o
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:28:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:85:48: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void addGTCamPose(const Sophus::SE3& gtPose);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:29:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/KeyFrameDisplay.h:82:64: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void setFromPose(const Sophus::SE3& pose, CalibHessian HCalib);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:34:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/MinimalImage.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:49:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:34:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/MinimalImage.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:34:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:88:69: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
int lastFrameId, bool onlyForHint = false);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/MinimalImage.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:34:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:98:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void updateCoarsePose(const Sophus::SE3& pose);
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:107:80: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
double& incA, double& incB, double& incNorm);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/MinimalImage.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:34:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:150:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 TS_cam_imu;
^~~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/MinimalImage.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:34:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:179:14: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 firstPose; // contains transform from first to world.
^~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/MinimalImage.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:34:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:197:97: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
std::pair<Vec4, bool> trackNewCoarse(FrameHessian* fh, Sophus::SE3 referenceToFrameHint = 0);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/MinimalImage.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:34:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:275:22: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
std::vectorSophus::SE3 gtPoses;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/util/MinimalImage.h:27,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:30,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:28:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
/home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.cpp:624:63: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void PangolinDSOViewer::addGTCamPose(const Sophus::SE3& gtPose)
^
[ 60%] Linking CXX static library lib/libdmvio.a
[ 96%] Built target dmvio
Scanning dependencies of target dmvio_dataset
[ 98%] Building CXX object CMakeFiles/dmvio_dataset.dir/src/main_dmvio_dataset.cpp.o
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/DatasetReader.h:32:0,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:43:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:43:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
Eigen::Vector3d biasTranslation)
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:34:50: note: declared here
template<typename _Scalar, int _Options=0> class SE3Group;
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/DatasetReader.h:32:0,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:43:
/home/garronliu/SLAM/dm-vio-master/src/util/GTData.hpp:48:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose;
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:43:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/util/DatasetReader.h: In member function ‘bool ImageFolderReader::loadGTData(std::__cxx11::string)’:
/home/garronliu/SLAM/dm-vio-master/src/dso/util/DatasetReader.h:321:34: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose(quat, translation);
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:43:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/util/DatasetReader.h:333:34: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 pose(quat, translation);
^~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:48:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp: At global scope:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:88:69: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
int lastFrameId, bool onlyForHint = false);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:48:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:98:50: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void updateCoarsePose(const Sophus::SE3& pose);
^
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:107:80: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
double& incA, double& incB, double& incNorm);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:44:0,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:48:
/home/garronliu/SLAM/dm-vio-master/src/IMU/IMUIntegration.hpp:150:17: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 TS_cam_imu;
^~~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:48:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:179:14: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
Sophus::SE3 firstPose; // contains transform from first to world.
^~~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:48:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:197:97: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
bool> trackNewCoarse(FrameHessian fh, Sophus::SE3 *referenceToFrameHint = 0);
^
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:612:7: note: declared here
class SE3Group : public SE3GroupBase<SE3Group<_Scalar,_Options> > {
^~~~~~~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:48:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/FullSystem/FullSystem.h:275:22: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
std::vectorSophus::SE3 gtPoses;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/dso/util/NumType.h:29:0,
from /home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Output3DWrapper.h:33,
from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:36:
/home/garronliu/SLAM/dm-vio-master/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/garronliu/SLAM/dm-vio-master/src/main_dmvio_dataset.cpp:54:0:
/home/garronliu/SLAM/dm-vio-master/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:85:48: warning: ‘SE3’ is deprecated [-Wdeprecated-declarations]
void addGTCamPose(const Sophus::SE3& gtPose);
^
[100%] Linking CXX executable bin/dmvio_dataset
[100%] Built target dmvio_dataset

As the warnings are similar，only a piece of them are listed here.

@lukasvst
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Thanks for providing all the relevant information.

  • You need to add start=2 to the command, then it should work as intended (sometimes in datasets the image data starts before IMU data, for that reason it's generally advised to skip the first 1-2 images).
  • Note that you are using the realtime version which will first load all images into RAM. That's why it might take a while until you see something happening. You can switch to the non-realtime version by changing to preset=0, or you can disable this behaviour by setting preload=0
  • You might also want to append a trailing /to your resultsPrefix, otherwise it will save the results in the folder above.

I hope this helps!

@GarronLiu
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Author

Thanks for providing all the relevant information.

* You need to add `start=2` to the command, then it should work as intended (sometimes in datasets the image data starts before IMU data, for that reason it's generally advised to skip the first 1-2 images).

* Note that you are using the realtime version which will first load all images into RAM. That's why it might take a while until you see something happening. You can switch to the non-realtime version by changing to `preset=0`, or you can disable this behaviour by setting `preload=0`

* You might also want to append a trailing `/`to your `resultsPrefix`, otherwise it will save the results in the folder above.

I hope this helps!

Thank you for kind suggestions! Again, thank you for great contributions! Your work is impressive! Now I have already succeeded in running your code in ROS version on my own device in real time! The performance is fantastic! I plan to implement your SLAM code on a small USV to evaluate its performance in inland waterway!

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